Non-stop picking vehicle for road maintenance

Abstract

The utility model relates to the technical field of road maintenance, in particular to a road maintenance non-stop picking-up vehicle which comprises a moving assembly, a picking-up assembly, a picking-up assembly and a picking-up assembly. The obstacle removing assembly is connected with the moving assembly; the distance measuring sensor is arranged below the obstacle removing assembly; the number of the infrared sensing devices is multiple, and the multiple infrared sensing devices are arranged on the obstacle clearing assembly; and the controller is electrically connected with the moving assembly, the obstacle removing assembly, the distance measuring sensor and the infrared sensing device. According to the utility model, the demand on manpower is reduced, the manpower cost in the obstacle clearing process is reduced, and the danger faced by personnel is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of highway maintenance, in particular to a non-stop picking vehicle for highway maintenance. Background Art

[0002] With the continuous progress of our society, the continuous development of science and economy, our per capita GDP is increasing day by day, and the per capita car ownership is also increasing accordingly. Cars have become an indispensable means of transportation in modern society. However, the rapid growth of car ownership has also brought a series of problems and confusions, such as traffic accidents, spilled objects, car failures, etc. With the frequent occurrence of this problem, tow trucks came into being.

[0003] A tow truck is a personalized, highly functional special vehicle, most of which are equipped with lifting and towing equipment, and are mainly used to clear road obstacles (common ones include faulty vehicles and vehicles violating traffic rules). The tow truck first appeared in the United States in the 1950s when road traffic was booming. In the 1970s, with the popularization and application of hydraulic transmission and control technology, the functions of tow trucks became more complete and entered the second stage. my country's tow truck technology started late, but it has developed extremely rapidly, and the starting point is high. It has taken a path of combining the introduction of technology with independent research and development. At present, there are dozens of tow truck manufacturers in my country, which are widely used in highways, airports, ports and urban construction departments.

[0004] As an important part of the modern transportation network, highways have a much higher probability of accidents than ordinary roads due to their high speeds, and are prone to high-speed spills. Improper or untimely handling can cause chain reactions such as road congestion. Traditional tow trucks need to stop and cooperate with manpower to deal with high-speed spills, which is more dangerous in high-speed traffic and is very likely to cause congestion.

[0005] Therefore, how to automatically complete obstacle collection through non-stop picking vehicles for highway maintenance has become a new trend in technological development. Utility Model Content

[0006] In view of this, the utility model proposes a non-stop picking vehicle for highway maintenance, aiming to solve the problem that traditional tow trucks need to stop and cooperate with manpower when recovering obstacles, which poses a safety hazard.

[0007] In one aspect, the utility model provides a non-stop road maintenance picking vehicle, comprising:

[0008] A mobile assembly, which is arranged on the tow truck;

[0009] An obstacle clearing component connected to the moving component, the moving component being used to adjust the distance between the obstacle clearing component and the ground;

[0010] A distance measuring sensor is arranged below the obstacle clearing component, and is used to detect the distance between the obstacle clearing component and the ground;

[0011] Infrared sensing devices, including a plurality of infrared sensing devices, wherein the plurality of infrared sensing devices are arranged on the obstacle removal component, and the infrared sensing devices are used to detect whether there is an obstacle;

[0012] A pressure sensor, comprising a plurality of pressure sensors, wherein the plurality of pressure sensors are arranged on the obstacle removal component;

[0013] A controller is electrically connected to the moving component, the obstacle clearing component, the distance measuring sensor, the pressure sensor and the infrared sensing device.

[0014] In some embodiments of the present application, the moving component includes:

[0015] A driving motor, which is arranged on the tow truck;

[0016] An electric push rod, which is arranged on the driving end of the driving motor, and the driving motor drives the electric push rod to move up and down;

[0017] A connecting piece is arranged on the electric push rod.

[0018] In some embodiments of the present application, the obstacle removal component includes:

[0019] The rear baffle is a rectangular structure, the rear baffle is arranged in a direction perpendicular to the ground, one side of the rear baffle is connected to the connecting member, and the other side of the rear baffle opposite to the side connected to the connecting member is an arc surface;

[0020] The lower shovel plate is a rectangular structure, and one side of the lower shovel plate is rotatably connected to the lower side of the rear baffle;

[0021] The mechanical arms include two mechanical arms, which are rotatably connected to the two side edges of the rear baffle through a gear transmission device.

[0022] In some embodiments of the present application, the robotic arm comprises:

[0023] A section of the mechanical arm, one end of which is rotatably connected to one side of the rear baffle through a gear transmission device;

[0024] Section B mechanical arm, one end of which is rotatably connected to the other end of section A mechanical arm via a gear transmission device;

[0025] One end of the C-section mechanical arm is rotatably connected to the other end of the B-section mechanical arm through a gear transmission device.

[0026] In some embodiments of the present application, the C-section robotic arm comprises:

[0027] A C1 mechanical arm, one end of which is rotatably connected to the other end of the B mechanical arm via a gear transmission device;

[0028] A C2 mechanical arm, one end of which is rotatably connected to the other end of the B mechanical arm via a gear transmission device;

[0029] A C3 mechanical arm, one end of which is rotatably connected to the other end of the B mechanical arm via a gear transmission device;

[0030] The C3 mechanical arm is located above the C2 mechanical arm, and the C2 mechanical arm is located above the C1 mechanical arm.

[0031] In some embodiments of the present application, a plurality of the infrared sensing devices are provided at the connection between the section A mechanical arm and the section B mechanical wall, and a plurality of the infrared sensing devices are provided at the connection between the section B mechanical arm and the section C mechanical wall.

[0032] Compared with the prior art, the utility model has the beneficial effect that, in the utility model, the electric push rod is responsible for the lifting and lowering of the obstacle removal component, ensuring better collection of obstacles without causing wear and tear on the road. The lower shovel plate cooperates with the rear baffle to directly collect smaller obstacles; the mechanical arm cooperates with the lower shovel plate to collect larger obstacles that are difficult to collect by the lower shovel plate alone. When not in operation, the lower shovel plate and the mechanical arm are both in a retracted state, so that the tow truck can more conveniently shuttle through the traffic and quickly reach the location of the obstacle, ensuring that the non-stop road maintenance vehicle will not cause wear and tear on the road and will not affect the driver's line of sight. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limiting of the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0034] Figure 1 A schematic diagram of the fully deployed structure of a non-stop highway maintenance pickup vehicle provided in an embodiment of the utility model.

[0035] Figure 2 A schematic diagram of the complete recovery structure of a non-stop highway maintenance picking vehicle provided in an embodiment of the present invention.

[0036] Figure 3 A schematic diagram of the closing structure of a non-stop highway maintenance picking vehicle provided in an embodiment of the present invention.

[0037] In the figure: 2. Drive motor; 3. Electric push rod; 4. Connecting part; 5. Tail plate; 6. Lower shovel plate; 7. Section A robotic arm; 8. Section B robotic arm; 9. C1 robotic arm; 10. C2 robotic arm; 11. C3 robotic arm. DETAILED DESCRIPTION

[0038] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0039] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0040] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0041] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] Combination Figure 1-3 As shown, a non-stop road maintenance pickup vehicle provided in this embodiment includes:

[0043] A mobile assembly, which is arranged on the tow truck;

[0044] An obstacle clearing component connected to the moving component, the moving component being used to adjust the distance between the obstacle clearing component and the ground;

[0045] A distance measuring sensor is arranged below the obstacle clearing component, and is used to detect the distance between the obstacle clearing component and the ground;

[0046] Infrared sensing devices, including a plurality of infrared sensing devices, wherein the plurality of infrared sensing devices are arranged on the obstacle removal component, and the infrared sensing devices are used to detect whether there is an obstacle;

[0047] A pressure sensor, comprising a plurality of pressure sensors, wherein the plurality of pressure sensors are arranged on the obstacle removal component;

[0048] A controller is electrically connected to the moving component, the obstacle clearing component, the distance measuring sensor, the pressure sensor and the infrared sensing device.

[0049] It is understandable that the device in this embodiment is arranged on a tow truck and can be moved on the highway at any time. This design makes the tow removal process more flexible and can quickly respond to the tow removal needs of different locations. The distance between the tow removal component and the ground is adjusted by the mobile component, making the tow removal process more accurate and efficient. This automatic adjustment function can be adjusted according to the ground conditions or the height of the obstacle to ensure the smooth progress of the tow removal process. The combination of the ranging sensor and the infrared sensing device enables the device to intelligently perceive the surrounding environment and obstacles. The ranging sensor can accurately detect the distance between the tow removal component and the ground, while the infrared sensing device can promptly detect and identify possible obstacles. Through the electrical connection with the mobile component, the tow removal component, the sensor and the sensing device, the controller can realize automatic control of the entire device, which can greatly reduce the burden on the operator and improve the efficiency and safety of the tow removal operation.

[0050] In some embodiments of the present application, the moving component includes:

[0051] A driving motor 2, which is arranged on the tow truck;

[0052] An electric push rod 3 is arranged on the driving end of the driving motor 2, and the driving motor 2 drives the electric push rod 3 to move up and down;

[0053] The connecting member 4 is arranged on the electric push rod 3 .

[0054] In some embodiments of the present application, the obstacle removal component includes:

[0055] The rear baffle 5 is a rectangular structure, and is arranged in a direction perpendicular to the ground, and one side of the rear baffle 5 is connected to the connecting member 4, and the other side of the rear baffle 5 opposite to the side connected to the connecting member 4 is an arc surface;

[0056] The lower shovel plate 6 is a rectangular structure, and one side of the lower shovel plate 6 is rotatably connected to the lower side of the rear baffle plate 5;

[0057] The mechanical arms include two, and the two mechanical arms are rotatably connected to the two side edges of the rear baffle 5 respectively through a gear transmission device.

[0058] It is understandable that the design of the driving motor 2 and the electric push rod 3 of the mobile assembly in this embodiment enables the highway maintenance non-stop picking vehicle to adjust the height of the obstacle removal assembly, and can achieve precise control of the obstacle removal process and improve the efficiency of the obstacle removal operation. The obstacle removal assembly includes a rear baffle 5, a lower shovel plate 6 and a mechanical arm. The combination of these components enables the highway maintenance non-stop picking vehicle to cope with different types of obstacles. The rear baffle 5, as a support of the rectangular structure, can effectively block and push obstacles. The rotating connection design of the lower shovel plate 6 makes the obstacle removal process more flexible and can adapt to obstacles of different shapes and positions. The gear transmission device of the mechanical arm provides additional rotational force, which enhances the operational ability of the highway maintenance non-stop picking vehicle. The connection design of the connector 4, the lower shovel plate 6 and the rear baffle 5 and the gear transmission device of the mechanical arm ensure the stability and reliability of the highway maintenance non-stop picking vehicle during operation, ensuring that the highway maintenance non-stop picking vehicle can effectively complete the task.

[0059] In some embodiments of the present application, the robotic arm comprises:

[0060] A section mechanical arm 7, one end of which is rotatably connected to one side of the rear baffle 5 through a gear transmission device;

[0061] Section B mechanical arm 8, one end of which is rotatably connected to the other end of section A mechanical arm 7 via a gear transmission device;

[0062] One end of the C-section mechanical arm is rotatably connected to the other end of the B-section mechanical arm 8 through a gear transmission device.

[0063] In some embodiments of the present application, the C-section robotic arm comprises:

[0064] C1 mechanical arm 9, one end of which is rotatably connected to the other end of the B section mechanical arm 8 through a gear transmission device;

[0065] A C2 mechanical arm 10, one end of which is rotatably connected to the other end of the B section mechanical arm 8 via a gear transmission device;

[0066] A C3 mechanical arm 11, one end of which is rotatably connected to the other end of the B section mechanical arm 8 via a gear transmission device;

[0067] The C3 robotic arm 11 is located above the C2 robotic arm 10 , and the C2 robotic arm 10 is located above the C1 robotic arm 9 .

[0068] In some embodiments of the present application, a plurality of the infrared sensing devices are provided at the connection between the section A robot arm 7 and the section B robot wall, and a plurality of the infrared sensing devices are provided at the connection between the section B robot arm 8 and the section C robot wall.

[0069] Specifically, the rotatable connection in this embodiment can be achieved by a spur gear transmission device.

[0070] Specifically, after the lower shovel plate 6 in this embodiment is unfolded, it can form an angle of 3° with the ground, which is more conducive to the bucket collecting obstacles.

[0071] It is understandable that the mechanical arms of Section A, Section B and Section C in this embodiment enable the highway maintenance non-stop picking vehicle to achieve more extensive and delicate movements. Through the synergistic effect of these mechanical arms, the highway maintenance non-stop picking vehicle can operate at different heights and angles, and more effectively clear various types of obstacles. An infrared sensing device is set at the connection of the mechanical arm, so that the highway maintenance non-stop picking vehicle can timely sense and identify the position and shape of the obstacle, which can help the highway maintenance non-stop picking vehicle avoid collision and damage, and ensure the smooth progress of the obstacle removal operation. The rotatable connection of the mechanical arm is realized by the spur gear transmission device, which ensures the stability and reliability of the connection. The transmission device can provide sufficient rotational force, and reduce the friction and loss of the mechanical arm during operation, ensuring the long-term stable operation of the highway maintenance non-stop picking vehicle. After the lower shovel plate 6 is unfolded, it forms an angle of 3° with the ground, so that the bucket is more conducive to collecting obstacles. This design can improve the efficiency and effect of the highway maintenance non-stop picking vehicle in the cleaning process, and ensure that the obstacles are effectively cleaned and collected.

[0072] Specifically, the operation process of the highway maintenance non-stop picking vehicle in this embodiment is as follows:

[0073] The controller dynamically adjusts the state of the highway maintenance non-stop picking vehicle according to the obstacle removal command and the distance between the obstacle removal component and the ground.

[0074] Obstacle removal commands include: execute obstacle removal and do not execute obstacle removal.

[0075] Obtaining the weight G of the obstacle, and when G>0, determining that the obstacle removal command is to execute obstacle removal, the controller determines the obstacle category according to the image detection algorithm, and the controller determines the clearing method according to the obstacle category and controls the movement of the obstacle removal component;

[0076] When G=0, it is determined that the obstacle removal command is not to perform obstacle removal, and the controller controls the obstacle removal component to maintain an original state;

[0077] When the obstacle clearing assembly is in the original state, the distance between the obstacle clearing assembly and the ground is greater than 12 cm, and the lower shovel plate 6 and the mechanical arm of the obstacle clearing assembly are in the retracted state parallel to the rear baffle 5. Figure 2, and when the distance from the ground is greater than 12 cm, the lower shovel plate 6 and the mechanical arm remain in the retracted state. When the obstacle removal command is to perform obstacle removal, the controller controls the obstacle removal component to move until the real-time distance between the obstacle removal component and the ground is 3 cm.

[0078] The controller determines the obstacle category based on the image detection algorithm. The obstacle categories include: small obstacles, large obstacles, and obstacles with no volume but large area;

[0079] The controller controls the obstacle removal component to descend and obtains a real-time distance H between the obstacle removal component and the ground detected by a distance measuring sensor;

[0080] When H>3, the controller controls the obstacle removal component to continue to descend;

[0081] When H=3, the controller controls the obstacle removal component to stop descending.

[0082] When the real-time distance between the obstacle clearing component and the ground is 3 cm, the controller controls the obstacle clearing component to stop descending, and controls the lower shovel plate 6 and the mechanical arm of the obstacle clearing component to unfold as follows: Figure 1 At this time, the plane where the lower shovel plate 6 is located is perpendicular to the plane where the rear baffle plate 5 is located, and the robotic arm is located on both sides of the lower shovel plate 6 and the rear baffle plate 5.

[0083] The controller records the detection data of the infrared sensor device located at the connection between the A-section mechanical arm 7 and the B-section mechanical arm 8 as Xb;

[0084] The controller records the detection data of the infrared sensing device located at the connection between the B-section robot arm 8 and the C-section robot arm as Xc.

[0085] The controller sets the decision variable to a 0-1 variable. When the detection data of the infrared sensing device is 0, it is determined that the infrared sensing device has not captured an obstacle. When the detection data of the infrared sensing device is 1, it is determined that the infrared sensing device has captured an obstacle.

[0086] When Xb=0 and Xc=0, the controller determines that the obstacle is a volumeless but large-area obstacle, and the controller controls the lower shovel plate 6 to recycle the obstacle;

[0087] When Xb=0 and Xc=1, the controller determines that the obstacle is a small obstacle and is between the B-section robot arm 8 and the C-section robot arm, and the controller controls the two B-section robot arms 8 to retract the obstacle;

[0088] When Xb=1 and Xc=1, the controller determines that the obstacle is a large obstacle and is between the A-section robot arm 7 and the C-section robot arm, and the controller controls the B-section robot arm 8, the C-section robot arm and the lower shovel plate 6 to recover the obstacle.

[0089] The controller obtains the gripping force Fj of the robot arm and the supporting force Fb of the lower shovel plate 6 in real time;

[0090] The sum of the gripping force Fj of the robot arm and the supporting force Fb of the lower shovel plate 6 is compared with the weight G of the obstacle, and whether to issue a command to complete the obstacle clearance is determined according to the comparison result;

[0091] When Fb+μFj>G, the controller determines to issue a command to complete the obstacle clearance, and the controller controls the B-section mechanical arm 8 and the C-section mechanical arm on both sides to retract relatively inward, so that the rear baffle 5, the lower shovel plate 6, the A-section mechanical arm 7, the B-section mechanical arm 8 and the C-section mechanical arm form a cubic structure with an upper opening as shown in FIG. Figure 3 , to prevent obstacles from falling;

[0092] When Fb+μFj≤G, the controller determines not to issue a command to complete obstacle clearance;

[0093] Where μ is the friction coefficient.

[0094] Those skilled in the art can understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A non-stop picking vehicle for highway maintenance, characterized in that: include: A mobile assembly, which is disposed on the tow truck; An obstacle clearing component connected to the moving component, the moving component being used to adjust the distance between the obstacle clearing component and the ground; A distance measuring sensor is arranged below the obstacle clearing component, and is used to detect the distance between the obstacle clearing component and the ground; Infrared sensing devices, including a plurality of infrared sensing devices, wherein the plurality of infrared sensing devices are arranged on the obstacle removal component, and the infrared sensing devices are used to detect whether there is an obstacle; A pressure sensor, comprising a plurality of pressure sensors, wherein the plurality of pressure sensors are arranged on the obstacle removal component; A controller is electrically connected to the moving component, the obstacle clearing component, the distance measuring sensor, the pressure sensor and the infrared sensing device.

2. The non-stop road maintenance picking vehicle according to claim 1 is characterized in that: The mobile assembly comprises: A driving motor, which is arranged on the tow truck; An electric push rod, which is arranged on the driving end of the driving motor, and the driving motor drives the electric push rod to move up and down; A connecting piece is arranged on the electric push rod.

3. The non-stop road maintenance pickup vehicle according to claim 2, characterized in that: The obstacle removal component comprises: The rear baffle is a rectangular structure, the rear baffle is arranged in a direction perpendicular to the ground, one side of the rear baffle is connected to the connecting member, and the other side of the rear baffle opposite to the side connected to the connecting member is an arc surface; The lower shovel plate is a rectangular structure, and one side of the lower shovel plate is rotatably connected to the lower side of the rear baffle; The mechanical arms include two mechanical arms, which are rotatably connected to the two side edges of the rear baffle through a gear transmission device.

4. The non-stop road maintenance picking vehicle according to claim 3 is characterized in that: The robotic arm comprises: A section of the mechanical arm, one end of which is rotatably connected to one side of the rear baffle through a gear transmission device; Section B mechanical arm, one end of which is rotatably connected to the other end of section A mechanical arm via a gear transmission device; One end of the C-section mechanical arm is rotatably connected to the other end of the B-section mechanical arm through a gear transmission device.

5. The non-stop road maintenance picking vehicle according to claim 4 is characterized in that: The C-section mechanical arm comprises: A C1 mechanical arm, one end of which is rotatably connected to the other end of the B mechanical arm via a gear transmission device; A C2 mechanical arm, one end of which is rotatably connected to the other end of the B mechanical arm via a gear transmission device; A C3 mechanical arm, one end of which is rotatably connected to the other end of the B mechanical arm via a gear transmission device; The C3 mechanical arm is located above the C2 mechanical arm, and the C2 mechanical arm is located above the C1 mechanical arm.

6. The non-stop road maintenance pickup vehicle according to claim 4, characterized in that: A plurality of the infrared sensing devices are arranged at the connection between the A-section mechanical arm and the B-section mechanical arm, and a plurality of the infrared sensing devices are arranged at the connection between the B-section mechanical arm and the C-section mechanical wall.

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